前期需要安装好ros、mavros、PX4原生固件。
编写ROS包
首先我们为外部控制例程建立一个工作空间
mkdir -p Offboard_ws/src
接下来我们新建一个功能包
cd Offboard_ws/src
catkin_create_pkg offboard roscpp std_msgs geometry_msgs mavros_msgs
建立好ros包过后我们新建一个可cpp源文件用来作为这个功能包的执行文件
cd offboard/src
gedit offboard_node.cpp
然后把下面的代码粘贴进去过后保存退出
#include <ros/ros.h>
#include <geometry_msgs/PoseStamped.h>
#include <mavros_msgs/CommandBool.h>
#include <mavros_msgs/SetMode.h>
#include <mavros_msgs/State.h>
mavros_msgs::State current_state;
void state_cb(const mavros_msgs::State::ConstPtr& msg){
current_state = *msg;
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "offb_node");
ros::NodeHandle nh;
ros::Subscriber state_sub = nh.subscribe<mavros_msgs::State>
("mavros/state", 10, state_cb);
ros::Publisher local_pos_pub = nh.advertise<geometry_msgs::PoseStamped>
("mavros/setpoint_position/local", 10);
ros::ServiceClient arming_client = nh.serviceClient<mavros_msgs::CommandBool>
("mavros/cmd/arming");
ros::ServiceClient set_mode_client = nh.serviceClient<mavros_msgs::SetMode>
("mavros/set_mode");
//the setpoint publishing rate MUST be faster than 2Hz
ros::Rate rate(20.0);
// wait for FCU connection
while(ros::ok() && !current_state.connected){
ros::spinOnce();
rate.sleep();
}
geometry_msgs::PoseStamped pose;
pose.pose.position.x = 0;
pose.pose.position.y = 0;
pose.pose.position.z = 2;
//send a few setpoints before starting
for(int i = 100; ros::ok() && i > 0; --i){
local_pos_pub.publish(pose);
ros::spinOnce();
rate.sleep();
}
mavros_msgs::SetMode offb_set_mode;
offb_set_mode.request.custom_mode = "OFFBOARD";
mavros_msgs::CommandBool arm_cmd;
arm_cmd.request.value = true;
ros::Time last_request = ros::Time::now();
while(ros::ok()){
if( current_state.mode != "OFFBOARD" &&
(ros::Time::now() - last_request > ros::Duration(5.0))){
if( set_mode_client.call(offb_set_mode) &&
offb_set_mode.response.mode_sent){
ROS_INFO("Offboard enabled");
}
last_request = ros::Time::now();
} else {
if( !current_state.armed &&
(ros::Time::now() - last_request > ros::Duration(5.0))){
if( arming_client.call(arm_cmd) &&
arm_cmd.response.success){
ROS_INFO("Vehicle armed");
}
last_request = ros::Time::now();
}
}
local_pos_pub.publish(pose);
ros::spinOnce();
rate.sleep();
}
return 0;
}
接下来我们修改CMakeLists.txt为编译做准备
cd ..
gedit CMakeLists.txt
然后在最末尾添加如下内容后保存退出
add_executable(${PROJECT_NAME}_node src/offboard_node.cpp)
target_link_libraries(${PROJECT_NAME}_node
${catkin_LIBRARIES}
)
然后我们就可以开始编译了
cd ~/Offboard_ws
catkin_make
我们可以看到编译成功生成了一个可执行文件,也就是一个Node。
我们可以把这个工作空间添加到.bashrc里面方便启动节点
echo "source ~/Offboard_ws/devel/setup.bash" >> ~/.bashrc
开始仿真
首先打开一个终端启动仿真
cd px4_src/Firmware
make px4_sitl gazebo
然后再开一个终端运行mavros
roslaunch mavros px4.launch fcu_url:="udp://:14540@127.0.0.1:14557"
接下来在打开一个终端运行外部控制的节点
rosrun offboard offboard_node
飞机最后起飞悬停在两米的位置
关于mavros的其他操作详细见mavros官网